NAV::InsGnssTCKFSolution Class Reference

Tightly-coupled Kalman Filter INS/GNSS errors. More...

Public Member Functions
std::string	getType () const override
	Returns the type of the data class.
std::optional< double >	getValueAt (size_t idx) const override
	Get the value at the index.
std::vector< std::string >	staticDataDescriptors () const override
	Returns a vector of data descriptors.
size_t	staticDescriptorCount () const override
	Get the amount of descriptors.
Public Member Functions inherited from NAV::PosVelAtt
Eigen::Quaterniond	b_Quat_e () const
	Returns the Quaternion from Earth-fixed to body frame.
Eigen::Quaterniond	b_Quat_n () const
	Returns the Quaternion from navigation to body frame (NED)
const Eigen::Quaterniond &	e_Quat_b () const
	Returns the Quaternion from body to Earth-fixed frame.
std::optional< Eigen::Vector4d >	e_QuatStdev () const
	Returns the standard deviation of the Quaternion body to earth frame (x, y, z, w)
std::string	getType () const override
	Returns the type of the data class.
std::optional< double >	getValueAt (size_t idx) const override
	Get the value at the index.
const Eigen::Quaterniond &	n_Quat_b () const
	Returns the Quaternion from body to navigation frame (NED)
std::optional< Eigen::Vector4d >	n_QuatStdev () const
	Returns the standard deviation of the Quaternion body to navigation frame (roll, pitch, yaw) (x, y, z, w)
Eigen::Vector3d	rollPitchYaw () const
	Returns the Roll, Pitch and Yaw angles in [rad].
template<typename Derived>
void	setAttitude_e_Quat_b (const Eigen::QuaternionBase< Derived > &e_Quat_b)
	Set the Quaternion from body to earth frame.
template<typename Derived>
void	setAttitude_n_Quat_b (const Eigen::QuaternionBase< Derived > &n_Quat_b)
	Set the Quaternion from body to navigation frame.
template<typename DerivedP, typename DerivedV, typename DerivedA>
void	setPosVelAtt_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< DerivedV > &e_velocity, const Eigen::QuaternionBase< DerivedA > &e_Quat_b)
	Set the position, velocity and attitude.
template<typename DerivedP, typename DerivedV, typename DerivedA>
void	setPosVelAtt_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< DerivedV > &n_velocity, const Eigen::QuaternionBase< DerivedA > &n_Quat_b)
	Set the position, velocity and attitude.
template<typename DerivedP, typename DerivedV, typename DerivedA, typename Derived>
void	setPosVelAttAndCov_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< DerivedV > &e_velocity, const Eigen::QuaternionBase< DerivedA > &e_Quat_b, const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the position, velocity, attitude and the covariance matrix.
template<typename DerivedP, typename DerivedV, typename DerivedA, typename Derived>
void	setPosVelAttAndCov_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< DerivedV > &n_velocity, const Eigen::QuaternionBase< DerivedA > &n_Quat_b, const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the position, velocity, attitude and the covariance matrix.
template<typename Derived>
void	setPosVelAttCovarianceMatrix_e (const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the Covariance matrix in ECEF coordinates.
template<typename Derived>
void	setPosVelAttCovarianceMatrix_n (const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the Covariance matrix in NED coordinates.
bool	setValueAt (size_t idx, double value) override
	Set the value at the index.
std::vector< std::string >	staticDataDescriptors () const override
	Returns a vector of data descriptors.
size_t	staticDescriptorCount () const override
	Get the amount of descriptors.
Public Member Functions inherited from NAV::PosVel
const Eigen::Vector3d &	e_velocity () const
	Returns the velocity in [m/s], in earth coordinates.
std::optional< Eigen::Vector3d >	e_velocityStdev () const
	Returns the standard deviation of the velocity in [m/s], in earth coordinates.
const Eigen::Vector3d &	n_velocity () const
	Returns the velocity in [m/s], in navigation coordinates.
std::optional< Eigen::Vector3d >	n_velocityStdev () const
	Returns the standard deviation of the velocity in [m/s], in navigation coordinates.
template<typename DerivedP, typename DerivedV>
void	setPosVel_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< DerivedV > &e_velocity)
	Set the position and velocity.
template<typename DerivedP, typename DerivedV>
void	setPosVel_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< DerivedV > &n_velocity)
	Set the position and velocity.
template<typename DerivedP, typename DerivedV, typename Derived>
void	setPosVelAndCov_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< DerivedV > &e_velocity, const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the position, velocity and the covariance matrix.
template<typename DerivedP, typename DerivedV, typename Derived>
void	setPosVelAndCov_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< DerivedV > &n_velocity, const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the position, velocity and the covariance matrix.
template<typename Derived>
void	setPosVelCovarianceMatrix_e (const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the Covariance matrix in ECEF coordinates.
template<typename Derived>
void	setPosVelCovarianceMatrix_n (const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the Covariance matrix in NED coordinates.
template<typename Derived>
void	setVelocity_e (const Eigen::MatrixBase< Derived > &e_velocity)
	Set the Velocity in the earth frame.
template<typename Derived>
void	setVelocity_n (const Eigen::MatrixBase< Derived > &n_velocity)
	Set the Velocity in the NED frame.
Public Member Functions inherited from NAV::Pos
const double &	altitude () const
	Returns the altitude (height above ground) in [m].
std::optional< std::reference_wrapper< const KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > > >	e_CovarianceMatrix () const
	Returns the Covariance matrix in ECEF frame.
const Eigen::Vector3d &	e_position () const
	Returns the coordinates in [m].
std::optional< Eigen::Vector3d >	e_positionStdev () const
	Returns the standard deviation of the position in ECEF frame coordinates in [m].
Eigen::Quaterniond	e_Quat_n () const
	Returns the Quaternion from navigation to Earth-fixed frame.
const double &	latitude () const
	Returns the latitude 𝜙 in [rad].
const Eigen::Vector3d &	lla_position () const
	Returns the latitude 𝜙, longitude λ and altitude (height above ground) in [rad, rad, m].
const double &	longitude () const
	Returns the longitude λ in [rad].
std::optional< std::reference_wrapper< const KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > > >	n_CovarianceMatrix () const
	Returns the Covariance matrix in local navigation frame.
std::optional< Eigen::Vector3d >	n_positionStdev () const
	Returns the standard deviation of the position in local navigation frame coordinates in [m].
Eigen::Quaterniond	n_Quat_e () const
	Returns the Quaternion from Earth-fixed frame to navigation.
template<typename Derived>
void	setPosCovarianceMatrix_e (const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the Covariance matrix in ECEF coordinates.
template<typename Derived>
void	setPosCovarianceMatrix_n (const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the Covariance matrix in NED coordinates.
template<typename Derived>
void	setPosition_e (const Eigen::MatrixBase< Derived > &e_position)
	Set the Position in coordinates.
template<typename Derived>
void	setPosition_lla (const Eigen::MatrixBase< Derived > &lla_position)
	Set the Position lla object.
template<typename DerivedP, typename Derived>
void	setPositionAndCov_e (const Eigen::MatrixBase< DerivedP > &e_position, const Eigen::MatrixBase< Derived > &e_covarianceMatrix)
	Set the position and the covariance matrix.
template<typename DerivedP, typename Derived>
void	setPositionAndCov_n (const Eigen::MatrixBase< DerivedP > &lla_position, const Eigen::MatrixBase< Derived > &n_covarianceMatrix)
	Set the position and the covariance matrix.
Public Member Functions inherited from NAV::NodeData
void	addEvent (const std::string &text)
	Adds the event to the list.
virtual std::vector< std::string >	dynamicDataDescriptors () const
	Returns a vector of data descriptors for the dynamic data.
const std::vector< std::string > &	events () const
	Returns a vector of string events associated with this data.
virtual std::vector< std::pair< std::string, double > >	getDynamicData () const
	Returns a vector of data descriptors and values for the dynamic data.
virtual std::optional< double >	getDynamicDataAt (const std::string &) const
	Get the value for the descriptor.
double	getValueAtOrNaN (size_t idx) const
	Get the value at the index or NaN if not in the observation.
virtual void	guiTooltip (bool detailView, bool firstOpen, const char *displayName, const char *id, int *rootWindow) const
	Shows a GUI tooltip to look into details of the observation.
virtual bool	hasTooltip () const
	Return whether this data has a tooltip.
	NodeData ()=default
	Default constructor.
	NodeData (const NodeData &)=default
	Copy constructor.
	NodeData (NodeData &&)=default
	Move constructor.
NodeData &	operator= (const NodeData &)=default
	Copy assignment operator.
NodeData &	operator= (NodeData &&)=default
	Move assignment operator.
virtual bool	setDynamicDataAt (const std::string &, double)
	Set the value for the descriptor.
virtual	~NodeData ()=default
	Destructor.

Static Public Member Functions
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.
static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.
static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.
static std::string	type ()
	Returns the type of the data class.
Static Public Member Functions inherited from NAV::InsGnssLCKFSolution
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.
static constexpr size_t	GetStaticDescriptorCount ()
	Get the number of descriptors.
static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.
static std::string	type ()
	Returns the type of the data class.
Static Public Member Functions inherited from NAV::PosVelAtt
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.
static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.
static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.
static std::string	type ()
	Returns the type of the data class.
Static Public Member Functions inherited from NAV::PosVel
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.
static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.
static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.
static std::string	type ()
	Returns the type of the data class.
Static Public Member Functions inherited from NAV::Pos
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.
static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.
static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.
static std::string	type ()
	Returns the type of the data class.
Static Public Member Functions inherited from NAV::NodeData
static std::vector< std::string >	GetStaticDataDescriptors ()
	Returns a vector of data descriptors.
static constexpr size_t	GetStaticDescriptorCount ()
	Get the amount of descriptors.
static std::vector< std::string >	parentTypes ()
	Returns the parent types of the data class.
static std::string	type ()
	Returns the type of the data class.

Public Attributes
double	recvClkDrift
	δϱ_dot The receiver clock drift in [m/s]
double	recvClkOffset
	δϱ The receiver clock offset in [m]
Public Attributes inherited from NAV::InsGnssLCKFSolution
Eigen::Vector3d	attitudeError
	δ𝛙_{i,e,n}b_{i,e,n} The attitude error in {i,e,n} frame coordinates in [rad]
UncertainValue< Eigen::Vector3d >	b_biasAccel
	𝐛_a The accelerometer bias in body frame in [m/s^2]
UncertainValue< Eigen::Vector3d >	b_biasGyro
	𝐛_g The gyroscope bias in body frame in [rad/s]
Frame	frame
	Frame in which the errors are set.
UncertainValue< double >	heightBias
	Barometric height bias in [m].
UncertainValue< double >	heightScale
	Barometric height scale in [m/m].
Eigen::Vector3d	positionError
Eigen::Vector3d	velocityError
	δ𝐯_{i,e,n} The velocity error in {i,e,n} coordinates in [m/s]
Public Attributes inherited from NAV::NodeData
InsTime	insTime
	Time at which the message was received.

Additional Inherited Members
Public Types inherited from NAV::InsGnssLCKFSolution
enum class	Frame : uint8_t {   ECEF ,   NED }
	Available Frames. More...
Protected Attributes inherited from NAV::Pos
std::optional< KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > >	_e_covarianceMatrix
	Covariance matrix in ECEF coordinates.
std::optional< KeyedMatrixXd< Keys::MotionModelKey, Keys::MotionModelKey > >	_n_covarianceMatrix
	Covariance matrix in local navigation coordinates.
Protected Attributes inherited from NAV::NodeData
std::vector< std::string >	_events
	List of events.

Detailed Description

Tightly-coupled Kalman Filter INS/GNSS errors.

Member Function Documentation

getType()

std::string NAV::InsGnssTCKFSolution::getType ( ) const

inlinenodiscardoverridevirtual

Returns the type of the data class.

Returns

The data type

Reimplemented from NAV::InsGnssLCKFSolution.

getValueAt()

std::optional< double > NAV::InsGnssTCKFSolution::getValueAt ( size_t idx ) const

inlinenodiscardoverridevirtual

Get the value at the index.

Parameters

idx	Index corresponding to data descriptor order

Returns

Value if in the observation

Reimplemented from NAV::InsGnssLCKFSolution.

parentTypes()

static std::vector< std::string > NAV::InsGnssTCKFSolution::parentTypes ( )

inlinestaticnodiscard

Returns the parent types of the data class.

Returns

The parent data types

staticDataDescriptors()

std::vector< std::string > NAV::InsGnssTCKFSolution::staticDataDescriptors ( ) const

inlinenodiscardoverridevirtual

Returns a vector of data descriptors.

Reimplemented from NAV::InsGnssLCKFSolution.

staticDescriptorCount()

size_t NAV::InsGnssTCKFSolution::staticDescriptorCount ( ) const

inlinenodiscardoverridevirtual

Get the amount of descriptors.

Reimplemented from NAV::InsGnssLCKFSolution.

type()

static std::string NAV::InsGnssTCKFSolution::type ( )

inlinestaticnodiscard

Returns the type of the data class.

Returns

The data type

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The documentation for this class was generated from the following file:

• /home/runner/work/INSTINCT/INSTINCT/src/NodeData/State/InsGnssTCKFSolution.hpp